基于复合单叶双曲面的广义Gough-Stewart结构六维力传感器各向同性优化设计

doi:10.7527/S1000-6893.2013.0165

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基于复合单叶双曲面的广义Gough-Stewart结构六维力传感器各向同性优化设计

佟志忠, 姜洪洲, 何景峰, 张辉

哈尔滨工业大学机电工程学院, 黑龙江哈尔滨 150080

收稿日期:2013-01-17 修回日期:2013-03-12 出版日期:2013-11-25 发布日期:2013-03-19
通讯作者: 佟志忠，Tel.：0451-86403833 E-mail：tongzhizhong@hit.edu.cn E-mail:tongzhizhong@hit.edu.cn
作者简介:佟志忠男，博士，副教授。主要研究方向：并联结构分析与控制，精密并联装备、液压伺服控制系统。 Tel：0451-86403833 E-mail：tongzhizhong@hit.edu.cn
基金资助:
国家自然科学基金（51105090）

Optimal Design of the Isotropy Performance of a Six-dimensional Force Sensor Based on a Generalized Gough-Stewart Structure Lying on a Pair of Circular Hyperboloids

TONG Zhizhong, JIANG Hongzhou, HE Jingfeng, ZHANG Hui

School of Mechanical and Electrical Engineering, Harbin Institute of Technology, Harbin 150080, China

Received:2013-01-17 Revised:2013-03-12 Online:2013-11-25 Published:2013-03-19
Supported by:
National Natural Science Foundation of China (51105090)

摘要/Abstract

摘要：

六维力传感器力敏元件的结构设计是实现低耦合、高精度性能的关键，标准Gough-Stewart结构六维力传感器力各向同性度的最佳值为0.707，其力各向同性的本质不可达特性直接影响测量精度。为此采用广义Gough-Stewart结构设计六维力传感器，通过具有最小结构参数描述集的复合单叶双曲面描述定义、分析力各向同性问题，推导了封闭、解析的数学描述，证明了其力各向同性的可达性，提出了满足力测量中心位置需求的力各向同性空间六维力传感器Gough-Stewart并联结构设计方法。研究表明所提出的设计和综合方法不仅是一种构造一类力各向同性广义Gough-Stewart结构六维力传感器的新方法，还是一种并联机构构型综合的新方法。

关键词: 广义Gough-Stewart结构, 各向同性, 复合单叶双曲面, 力传感器, 优化设计

Abstract:

For a six-dimensional force sensor, a key issue in its structural design is to realize low coupling and high precision. A standard Gough-Stewart structure based six-dimensional force sensor is able to achieve the best force isotropy with a value of 0.707, and its intrinsic isotropy performance directly affects the measuring accuracy of a sensor. In this paper, a generalized Gough-Stewart structure is used to design a six-dimensional force sensor. The concept of a pair of circular hyperboloids is introduced to define a generalized Gough-Stewart structure with minimal and independent description parameters, and to achieve the optimal design of a six-dimensional force sensor with isotropy. The optimal design routine is built by deriving the closed-form and analytic formulation. Full force isotropy is proven accessible. An performed routine is proposed to design the Gough-Stewart structure with force isotropy for a six-dimensional force sensor, which could meet the position requirement of the force measure point. The research shows that the proposed routine is a novel method to generate a class of six-dimensional force sensors with best isotropy based on generalized Gough-Stewart structures, and also is a new synthesis method of parallel mechanisms.

Key words: generalized Gough-Stewart structure, isotropy, circular hyperboloid of one sheet, force sensor, optimal design

中图分类号:

佟志忠, 姜洪洲, 何景峰, 张辉. 基于复合单叶双曲面的广义Gough-Stewart结构六维力传感器各向同性优化设计[J]. 航空学报, 2013, 34(11): 2607-2615.

TONG Zhizhong, JIANG Hongzhou, HE Jingfeng, ZHANG Hui. Optimal Design of the Isotropy Performance of a Six-dimensional Force Sensor Based on a Generalized Gough-Stewart Structure Lying on a Pair of Circular Hyperboloids[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2013, 34(11): 2607-2615.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于复合单叶双曲面的广义Gough-Stewart结构六维力传感器各向同性优化设计

Optimal Design of the Isotropy Performance of a Six-dimensional Force Sensor Based on a Generalized Gough-Stewart Structure Lying on a Pair of Circular Hyperboloids

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